Surgical Tool Positioning Based on Sensed Parameters

Abstract

Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.

Description

FIELD OF THE INVENTION[0001]Methods and devices are provided for robotic surgery, and in particular for positioning surgical tools based on sensed parameters.BACKGROUND OF THE INVENTION[0002]Minimally invasive surgical (MIS) instruments are often preferred over traditional open surgical devices due to the reduced post-operative recovery time and minimal scarring. Laparoscopic surgery is one type of MIS procedure in which one or more small incisions are formed in the abdomen and a trocar is inserted through the incision to form a pathway that provides access to the abdominal cavity. The trocar is used to introduce various instruments and tools into the abdominal cavity, as well as to provide insufflation to elevate the abdominal wall above the organs. The instruments and tools can be used to engage and / or treat tissue in a number of ways to achieve a diagnostic or therapeutic effect. Endoscopic surgery is another type of MIS procedure in which elongate flexible shafts are introduced ...

AI Technical Summary

Benefits of technology

This patent describes a surgical system that uses an electromechanical tool to apply energy to tissue. The system includes an arm and a tool that can be moved in different directions. A controller is used to adjust how the tool moves based on different sensed parameters, such as temperature. The system can also detect the amount of displacement of the tissue surface and adjust the speed of the tool accordingly to prevent damage to the surface. Overall, this system can provide safer and more precise surgical procedures.

Problems solved by technology

For example, traditional minimally invasive surgical instruments often deny the surgeon the flexibility of tool placement found in open surgery.

Difficulty is experienced in approaching the surgical site with the instruments through the small incisions.

Additionally, the added length of typical endoscopic instruments often reduces the surgeon's ability to feel forces exerted by tissues and organs on the end effector.

Furthermore, coordination of the movement of the end effector of the instrument as viewed in the image on the television monitor with actual end effector movement is particularly difficult, since the movement as perceived in the image normally does not correspond intuitively with the actual end effector movement.

Accordingly, lack of intuitive response to surgical instrument movement input is often experienced.

Such a lack of intuitiveness, dexterity and sensitivity of endoscopic tools has been found to be an impediment in the increased the use of minimally invasive surgery.

Images